Beams and frames

Beams are slender members used for

supporting transverse loading.
Beams with cross sections symmetric with
respect to loading are considered.
M
= y
I
= / E
d 2 v / dx 2 = M / EI
 Potential energy approach

Strain energy in an element of length dx is

1
dU =
2A dAdx

1 M2
= 2 y dA dx
2

2 EI A
dA is the moment of inertia I
2
y
A

The total strain energy for the beam is given by-

( )
L
1
U = EI d v / dx dx
2 2

20
 Potential energy of the beam is then given by-

( )
L L
1
= EI d v / dx dx pvdx pm vm M k vk
2 2 '

20 0 m k

Where-
-p is the distributed load per unit length
-pm is the point load at point m.
-Mk is the moment of couple applied at point k
-vm is the deflection at point m
-vk is the slope at point k.
Galerkins Approach
p Here we start from equilibrium
V+dV of an elemental length.
M M+dM dV/dx = p
V dM/dx =V
dx d 2 v / dx 2 = M / EI

d2
dx 2
EI(d 2
)
v 2 p=0
dx
For approximate solution by Galerkins approach-

0
L d
(
dx 2 EI
d 2
v
dx
)
2 p dx = 0

is an arbitrary function using same basic functions as v
Integrating the first term by parts and splitting the interval 0 to L
to (0 to xm), (xm to xk) and (xk to L) we get-

xm
d vd
2 2
d d v 2
L l

0 EI dx 2 dx 2 dx 0 pdx + dx EI dx 2
0
L xk L
d d v 2
d v d 2
d v d 2
+ EI 2 EI 2 EI 2 =0
dx dx x dx dx 0 dx dx xk
m

Further simplifying-

d 2v d 2
L L

0 dx 2 dx 2
EI dx 0 p dx m m m k k k = 0
p M '

and M are zero at support..at xm shear force is pm and at xk

Bending moment is -Mk
 FINITE ELEMENT FORMULATION

Beam is divided in to elementseach node has two degrees of

freedom.
Degree of freedom of node j are Q2j-1 and Q2j
Q2j-1 is transverse displacement and Q2j is slope or rotation.

Q1 Q3 Q5 Q7 Q9
e1 e2 e3 e4
Q2 Q4 Q6 Q8 Q10

Q = [Q1, Q2 , Q3 KQ10 ]
T

Q is the global displacement vector.

Local coordinates-
q1 q3
e q4
q2

q = [q1 , q2 , q3 , q4 ] T

= [v1 , v , v2 , v ]
'
1
'
2

The shape functions for interpolating v on an element are defined

in terms of from 1 to 1.
The shape functions for beam elements differ from those defined
earlier. Therefore, we define Hermite Shape Functions
Slope=0
H1 H2
1 Slope=0
Slope=0

Slope=1

Slope=0

H3 1 Slope=1
Slope=0

Slope=0 H4
Each Hermite shape function is of cubic order represented by-

H i = ai + bi + ci 2 + d i 3 K i = 1,2,3,4

The condition given in following table must be satisfied.

H1 H1 H2 H2 H3 H3 H4 H4
=-1 1 0 0 1 0 0 0 0
=1 0 0 0 0 1 0 0 1
Finding out values of coefficients and simplifying,

1
H1 = (1 ) (2 + )
2

4
1
H 2 = (1 ) ( + 1)
2

4
1
H 3 = (1 + ) (2 + )
2

4
1
H 4 = (1 + ) ( 1)
2

4
Hermite functions can be used to write v in the form-
dv dv
v( ) = H1v1 + H 2 + H 3v3 + H 4
d 1 d 2

The coordinates transform by relationship-

1 1+
x= x1 + x2
2 2
x1 + x2 x2 x1
= +
2 2

le (x2-x1) is the length of

dx = d element le
2
dv le dv
=
d 2 dx
Therefore,
le le
v( ) = H1q1 + H 2 q2 + H 3 q3 + H 4 q4
2 2

v = Hq
where
le le
H = H1 , H 2 , H 3 , H 4
2 2
 1
(
U e = EI d v / dx dx
2e
2 2
)
2 2
dv 2 dv d v 4 d v
= and =
dx le d dx 2
le d 2
substituting in above equation
T
T 16 d H d 2H
2 2
d v
= q 4
2
q
2
dx 2
le d d
Where-

d 2H 3 1 + 3 le 3 1 + 3 le
= , , ,
d 2
2 2 2 2 2 2
 9 4 2 3 8 (1 + 3 )le 9 4 2 3 8 (1 + 3 )le
2

1 + 3 2 3 1 + 9 2
2

1 l e ( 1 + 3 )l e le
1 T 8 EI 4 8 16
3
Ue = q d q
2 le 1 symmetric 9 4 2
3 8 (1 + 3 )le
2

1 + 3 2
e l
4
Note that-
1 1 1
2
1 d = 3 d = 0 d = 2
2

1 1

This result can be written as-

1 T
U e = q ke q
2
Where Ke is element stiffness matrix given by

12 6le 12 6le
2
EI 6le 4le 6le 2le
2

ke = 3
le 12 6le 12 6le

6le 2le 6le 4le
2 2

It can be seen that it is a symmetric matrix.

Load vector-
We assume the uniformly distributed load p over the element.

ple 1
l pvdx = 2 1 Hd q
e

Substituting the value of H we get-

pvdx = f
eT
q
le

where
T
ple pl ple pl
2 2
f =e
, , , e

e

2 12 2 12
This is equivalent to the element shown below-
p

1 2
le

Ple/2 Ple/2
Ple 2/12 -Ple2/12
e
1 2

The point loads Pm and Mk are readily taken care of by

introducing the nodes at the point of application.
Introducing local-global correspondence from potential energy
approach we get-

1 T
= Q KQ QF
2
And from Galerkins approach we get-

KQ F = 0
T T

where = admissible virtual displacement

vector.
BOUNDARY CONSIDERATIONS
Let Qr = a.single point BC

Following Penalty approach, add 1/2C(Qr-a)2 to

C represents stiffness which is large in comparison

with beam stiffness terms.
C is added to Krr and Ca is added to Fr to get-

KQ = F
These equations are solved to get nodal displacements.

Ca C
C Ca
Dof =(2i-1) Dof = 2i
Shear Force and Bending Moment-
We have,
d 2v dM
M = EI 2 V = and v = Hq
dx dx

R1 12 6le 12 6le q1 ple 2

R 2 pl 2 12
2 EI e 6l 4l 2
6l 2l 2 +
q
=
e e e e
3
R
3 l 12 6l 12 6 l q
e 3 pl 2
e
e
e
R4 6le 2le2 6le 4le2 q4 ple2 12

V1 = R1 V2 = -R3 M1 = -R2 M 2 = R4
Beams on elastic support
Shafts supported on ball, roller, journal bearings
Large beams supported on elastic walls.
Beam supported on soil (Winkler foundation).

Stiffness of support contributes towards PE.

Let s be the stiffness of support per unit length.
1 l 2
additional term =
2 0
sv dx

v = Hq
1
= q T s H T H dx q
2 e e
 1
= q T kes
2 e
where kes is stiffness matrix for
elastic foundation
156 22le 54 13le

sle 22le 4le 13le 3le
2 2

ke =
s
420 54 13le 156 22le

13le 3le2 22le 4le2
 PLANE FRAMES
Plane structure with rigidly connected members.

Similar to beams except that axial loads and deformations

are present.

We have 2 displacements and 1 rotation at each node.

3 dof at each node.

q =[q1, q2, q3, q4, q5, q6]T

 Global and local coordinate systems
q5 q4
q5 2
q4

q6 (q6)

Y X
q2
q1
q2
1
q1 Y
q3 (q3)
X
 q =[q1, q2, q3, q4, q5, q6]

l,m are the direction cosines of local coordinate system. XY

l = cos()
m =sin()

We can see from the figure that-

q3 = q3
q3 = q6
which are rotations with respect to body.
 q = Lq

Where-
l m 0 0 0 0
m l 0 0 0 0

0 0 1 0 0 0
L=
0 0 0 l m 0
0 0 0 m l 0

0 0 0 0 0 1

q2, q3,q5 and q6 are beam element dof while q1andq4

are like rod element dof.
Combining two stiffness and rearranging at proper locations we
get element stiffness matrix as-

EA EA
l 0 0 0 0
le
e
12 EI 6 EI 12 EI 6 EI
0 0 3
le3 le2 le le2

6 EI 4 EI 6 EI 2 EI
0 0 2
le2 le le le
k 'e =
EA EA
0 0 0 0
le le
12 EI 6 EI 12 EI 6 EI
0 0 2
le3 le2 3
le le
6 EI 2 EI 6 EI 4 EI
0 0 2
le2 le le le
Strain energy of an element is given by-
1 T 'e
Ue = q' k q'
2
1
= q T LT k 'e Lq
2
by Galerkin ' s approach ,
W e = 'T k 'e q '
= T LT k 'e Lq

Element stiffness matrix in global form can be written as-

K e = LT k 'e L
 X

If there is distributed load on

p
member, we have-

q 'T f ' = q T LT f '

Y
where
Y T
ple pl ple pl
2 2

X f ' = 0, , ,0, ,
e e

2 12 2 12
f = LT f '
In global form,
KQ = F